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Halpern iteration for strongly quasinonexpansive mappings on a geodesic space with curvature bounded above by one
Fixed Point Theory and Applications volume 2013, Article number: 7 (2013)
Abstract
In this paper, we deal with the Halpern iterative scheme for a strongly quasinonexpansive mapping in the setting of a complete geodesic space with curvature bounded above by one. Our result can be applied to the image recovery problem. We also consider the approximation of a fixed point of a nonexpansive mapping and obtain convergence theorems, one of which is a supplement of the result by Pia̧tek with an additional sufficient condition.
MSC:47H09.
1 Introduction
Halpern’s iterative method [1] is one of the most effective methods to find a fixed point of a nonexpansive mapping, which guarantees strong convergence of the approximating sequence. A remarkable result for nonlinear mappings was obtained by Wittmann [2] in the setting of Hilbert spaces. Since then, it has been investigated by a large number of researchers, and they have obtained different types of strong convergence theorems for nonexpansive mappings and their variations.
On the other hand, the notion of a strongly nonexpansive mapping was first proposed by Bruck and Reich [3] as a generalization of firmly nonexpansive mappings. This mapping was later generalized to a strongly quasinonexpansive mapping by Bruck [4]. We propose a new definition of this mapping in the framework of space by imposing a natural bound on the diameter of the space.
The first result of convergence of the Halpern iteration on a complete space was obtained by Saejung [5] for nonexpansive mappings, and a similar result in the setting of a complete space was proposed by Pia̧tek [6]. The combination of the Halpern iteration and strongly quasinonexpansive mappings was made recently. See [7, 8] and others.
In this paper, we deal with the Halpern iterative scheme for a strongly quasinonexpansive mapping in the setting of a complete space. Then we show that the main result can be applied to the problem of image recovery. We also consider the approximation of a fixed point of a nonexpansive mapping. We point out that the proof of the result by Pia̧tek is not sufficient and we supplement it with an additional sufficient condition for the convergence of the iterative sequence.
2 Preliminaries
Let X be a metric space. An element z of X is said to be an asymptotic center of a sequence in X if
Moreover, is said to be Δ-convergent and z is said to be its Δ-limit if z is the unique asymptotic center of any subsequences of .
A geodesic with endpoints is defined as an isometric mapping from the closed segment of real numbers to X whose image connects x and y. If a geodesic exists for every , then X is called a geodesic space.
For a triangle in a geodesic space X satisfying , we can find the comparison triangle in , that is, each corresponding edge has the same length as that of the original triangle. If every two points p, q on the edges of any and their corresponding points , satisfy that
we call X a space, where is the spherical metric on .
In this paper, we deal with only spaces; however, we remark that all the results can be easily generalized to spaces with positive κ by changing the scale of the space.
For two points x, y in a space X with and , we denote by the point z on a geodesic segment between x and y such that and . A subset C of X is said to be π-convex if belongs to C for every with and .
We refer to [9] for more details on geodesic spaces including spaces.
For three points x, y, z in a space X with and , we know that the following inequality holds [10]:
where . This simple inequality plays a very important role in this paper.
Let X be a complete space, C a nonempty closed π-convex subset of X and suppose that for every . Then we can define the metric projection from X onto C; that is, for every , is the unique point satisfying
Let X be a space. Let and suppose that the set of fixed points is not empty. Then T is said to be quasinonexpansive if for every and . T is said to be strongly quasinonexpansive if it is quasinonexpansive, and for every and every sequence in X satisfying that and , it follows that . T is said to be Δ-demiclosed if for any Δ-convergent sequence in X, its Δ-limit belongs to whenever .
The following lemmas are important for our main result.
Lemma 2.1 (Xu [11])
Let , and be sequences of real numbers such that and for every , , and . Let be a sequence in such that . If for every , then .
Lemma 2.2 (Saejung-Yotkaew [12])
Let and be sequences of real numbers such that for every . Let be a sequence in such that . Suppose that for every . If for every subsequence of ℕ satisfying , then .
Lemma 2.3 (He-Fang-Lopez-Li [13])
Let X be a complete space and . If a sequence in X satisfies that and that is Δ-convergent to , then .
3 Main result
As the main theorem of this paper, we prove strong convergence of the iterative sequence to a fixed point of a strongly quasinonexpansive mapping. We adopt the Halpern iterative scheme to generate the sequence. We begin with the following basic lemma, which is one of the main tools for our results.
Lemma 3.1 Let X be a space such that for every . Let and . Then
where
Proof It is obvious if . Otherwise, from the inequality
we have that
We also have that
and hence we obtain the desired result. □
Remark On the same assumption, we have
Indeed, it holds from the first inequality of the proof above together with
Now, we show the main theorem.
Theorem 3.2 Let X be a complete space such that for every . Let be a strongly quasinonexpansive and Δ-demiclosed mapping, and suppose that . Let be a real sequence in such that and . For given points , let be the sequence in X generated by
for . Suppose that one of the following conditions holds:
-
(a)
;
-
(b)
and ;
-
(c)
.
Then converges to .
Proof Let and let
for . Then, since T is quasinonexpansive, it follows from Lemma 3.1 that
for every . We also have that
for all . Thus we obtain that
for all and hence .
Now, we see that each of the conditions (a), (b) and (c) implies that . For the cases of (a) and (b), let . Then we show that . For (a), it is trivial. For (b), since , we have that
So, in each case of (a) and (b), we have
Since , it follows that . For the case of (c), we have that
for every . Therefore, from the condition (c) we have that .
For any subsequence of satisfying that , we have that
Thus we have that . Using the inequality , we also have . Since T is strongly quasinonexpansive, it follows that . Let be a Δ-convergent subsequence of such that . Then, since T is Δ-demiclosed and , the Δ-limit z of belongs to . Using Lemma 2.3 and the definitions of the Δ-limit and the metric projection, we have that
Therefore, we obtain that
By Lemma 2.2, we have that , that is, converges to , and we finish the proof. □
4 Application to the image recovery problem
In the setting of Hilbert spaces, the image recovery problem can be formulated as to find the nearest point in the intersection of a family of closed convex subsets from a given point by using the metric projection of each subset. In this section, we consider this problem in the setting of complete spaces. As the simplest case, we deal with only two closed convex subsets and such that and generate an iterative sequence converging to the nearest point in from a given point.
First, we observe some properties of the metric projection defined on a space. Let X be a complete space, C a nonempty closed π-convex subset of X and suppose that for every . Then we can prove that the metric projection is a strongly quasinonexpansive and Δ-demiclosed mapping such that . Indeed, it is known that is quasinonexpansive; see [14]. Let be a sequence in X and such that and . Then, from the property of metric projection, we have that
for every . Therefore, we have
and thus , that is, . Hence, is strongly quasinonexpansive.
On the other hand, let be such that and assume that is Δ-convergent to . Then is also Δ-convergent to . Since is a sequence in a closed π-convex subset C, we have that its Δ-limit belongs to C, that is, [14]. It shows that is Δ-demiclosed.
For two strongly quasinonexpansive and Δ-demiclosed mappings having common fixed points, we can create a new strongly quasinonexpansive and Δ-demiclosed mapping whose fixed points are common fixed points of given two mappings. For example, as we have seen above, metric projections to closed and convex sets are strongly quasinonexpansive and Δ-demiclosed. Thus, for given two metric projections to closed convex sets whose intersection is nonempty, the following method is applicable. It is useful to solve the image recovery problem.
Lemma 4.1 Let X be a space and , and y elements of X such that . Then
Proof It is obvious if . Otherwise, we have that
Dividing above by , we get the conclusion. □
Corollary 4.2 Let and be quasinonexpansive mappings from X to X, and elements of X, and p an element of . Then
Lemma 4.3 Let X be a complete space such that for arbitrary v and of X, and and quasinonexpansive mappings from X to X such that . Then
Proof It is obvious that . We will show the opposite inclusion. We denote . Let . Then, for arbitrary , from Corollary 4.2, we have that
that is, . Hence, , which means . □
Lemma 4.4 Let X be a space such that for arbitrary v and of X. Let and be mappings from X to X such that . If both and are strongly quasinonexpansive, then so is .
Proof We denote . By Corollary 4.2, for and , we have
that is, and hence T is quasinonexpansive. Moreover, for a sequence in X and a point p in such that and , by Lemma 4.1, we have
So, there exist two disjoint subsets and of ℕ such that and
We may assume that both and are infinite sets without loss of generality. From Lemma 4.3, p is in and thus
which means . Since is strongly quasinonexpansive, we have that . By Corollary 4.2, we have
that is, . Then it follows that . Similarly, we have that and . Consequently, we have that and . Hence, we obtain that , which is the desired result. □
Lemma 4.5 Let X be a space such that for arbitrary v and of X. Let and be mappings from X to X such that . If both and are Δ-demiclosed, then so is .
Proof We denote . Let be a sequence in X and an element of X such that and suppose that is Δ-convergent to . Then, by Corollary 4.2, we have
that is, . Thus we have
Since is Δ-demiclosed, we have that . In a similar fashion, we have that . Hence , that is, T is Δ-demiclosed. □
Let X be a complete space such that for every , and let and be closed convex subsets of X having the nonempty intersection. Then, for the metric projections and , the mapping is strongly quasinonexpansive and Δ-demiclosed. Moreover, the set of its fixed points is . Applying these facts to Theorem 3.2, we obtain the following result for the image recovery problem for two convex subsets.
Theorem 4.6 Let X be a complete space such that for every . Let and be closed convex subsets of X such that . Let be a real sequence in such that and . For given points , let be the sequence in X generated by
for . Suppose that one of the following conditions holds:
-
(a)
;
-
(b)
and ;
-
(c)
.
Then converges to .
5 Approximation to a fixed point of nonexpansive mappings
At the end of this paper, we prove two convergence theorems of iterative schemes which approximate a fixed point of a nonexpansive mapping. Firstly, we apply the main result Theorem 3.2 to this problem. We begin with the following lemmas.
Lemma 5.1 A nonexpansive mapping defined on a space is Δ-demiclosed.
Proof Let be a nonexpansive mapping. Let be a Δ-convergent sequence in X with the Δ-limit and suppose that . We will prove that . If , then, by the uniqueness of the asymptotic center, we have that
a contradiction. Hence, we have that S is Δ-demiclosed. □
Lemma 5.2 Let X be a space such that for every . Let be a nonexpansive mapping with a nonempty set of fixed points . Then the mapping defined by
for is a strongly quasinonexpansive and Δ-demiclosed mapping such that .
Proof It is obvious that by definition and, since both the identity mapping I and S are quasinonexpansive, for and , we have that
Thus T is quasinonexpansive. Let be a sequence in X such that , and suppose that . Then we have
for every . It follows that
and since , we have
It implies that and hence T is strongly quasinonexpansive.
For the Δ-demiclosedness of T, use Lemmas 4.5 and 5.1 with the fact that the identity mapping is also Δ-demiclosed. □
Applying this lemma and the results in the previous section to Theorem 3.2, we obtain the following convergence theorem of an iterative scheme approximating a fixed point of a nonexpansive mapping.
Theorem 5.3 Let X be a complete space such that for every . Let be a nonexpansive mapping and suppose that . Let be a real sequence in such that and . For given points , let be the sequence in X generated by
for . Suppose that one of the following conditions holds:
-
(a)
;
-
(b)
and ;
-
(c)
.
Then converges to .
The next convergence theorem of an iterative scheme on spaces was first proposed by Pia̧tek [6]. The theorem deals with the Halpern-type iterative sequence. Although the result itself is correct, a part of the proof does not seem to be exact. Precisely, in the proof of the convergence theorem for the explicit iteration process, the author makes use of Xu’s lemma, Lemma 2.1 in this paper. However, the conditions required for this lemma are not verified. We attempt to prove the following theorem as a supplement of the aforementioned result, and moreover, we find another coefficient condition which guarantees convergence of the iterative scheme.
Before showing the result, we need the following lemma which is analogous to [[6], Lemma 3.3]. The assumption for the length of the edges of the triangle is improved.
Lemma 5.4 Let X be a space. For , let be such that and . For a given , let and . If and , then
Proof Consider the comparison triangle of on and let and be the comparison points of and , respectively. Let
and . Then, letting , we have that
Since the functions , , and are all increasing on , it follows that
and
Therefore, we have that
Using the assumption that , we obtain that
and, by the inequality, it follows that
which is the desired result. □
Theorem 5.5 Let X be a complete space such that for every . Let be a nonexpansive mapping and suppose that . Let be a real sequence in such that , , and . For given points , let be the sequence in X generated by
for . Suppose that one of the following conditions holds:
-
(a)
;
-
(b)
and ;
-
(c)
.
Then converges to .
We employ the method used in [6] for some parts of the proof.
Proof From the definition of , using Lemma 5.4, we have that
where for each . Let
for all . Then, as in the proof of Theorem 3.2, we have that each of the conditions (a), (b) and (c) implies that . In particular, in cases of (a) and (b), for and with , respectively, it holds that
and in case of (c), it holds that
Then, by using Lemma 2.1 with the condition , we have that . It follows that
and thus . Let p, , , be as in the proof of Theorem 3.2 again. Then by Lemma 3.1, we have that
for every . Since every nonexpansive mapping is Δ-demiclosed, we can use the same technique as the proof of Theorem 3.2 and then we obtain that
Consequently, we have that by Lemma 2.1. Hence, converges to , which is the desired result. □
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Acknowledgements
The first author is supported by Grant-in-Aid for Scientific Research No. 22540175 from the Japan Society for the Promotion of Science.
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Kimura, Y., Satô, K. Halpern iteration for strongly quasinonexpansive mappings on a geodesic space with curvature bounded above by one. Fixed Point Theory Appl 2013, 7 (2013). https://doi.org/10.1186/1687-1812-2013-7
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DOI: https://doi.org/10.1186/1687-1812-2013-7